Add Xenomai real-time framework

linux/linux-ext-xenomai.mk new file +19 -0

new file mode 100644
@@ -0,0 +1,29 @@
+##################################################
+# Linux Adeos/Xenomai extensions
+#
+# Patch the linux kernel with xenomai extension
+##################################################
+
+ifeq ($(BR2_LINUX_KERNEL_EXT_XENOMAI),y)
+# Add dependency to xenomai (user-space) which provide ksrc part
+LINUX_DEPENDENCIES += xenomai
+
+# Adeos patch version
+XENOMAI_ADEOS_PATCH = $(call qstrip,$(BR2_LINUX_KERNEL_EXT_XENOMAI_ADEOS_PATCH))
+ifeq ($(XENOMAI_ADEOS_PATCH),)
+XENOMAI_ADEOS_OPT = --default
+else
+XENOMAI_ADEOS_OPT = --adeos=$(XENOMAI_ADEOS_PATCH)
+endif
+
+# Prepare kernel patch

package/Config.in +4 -0

@@ -487,6 +487,10 @@
 endif
 endmenu
 
+menu "Real-Time"
+source "package/xenomai/Config.in"
+endmenu
+
 menu "Shell and utilities"
 source "package/at/Config.in"
 if BR2_PACKAGE_BUSYBOX_SHOW_OTHERS

package/xenomai/Config.in new file +0 -0

new file mode 100644

package/xenomai/Config.in new file +51 -0

+
+	config BR2_PACKAGE_XENOMAI_CPU_AT91RM9200
+		bool "Atmel AT91RM9200"
+
+	config BR2_PACKAGE_XENOMAI_CPU_AT91SAM926X
+		bool "Atmel AT91SAM926X"
+
+	config BR2_PACKAGE_XENOMAI_CPU_INTEGRATOR
+		bool "ARM Ltd. Integrator"
+
+	config BR2_PACKAGE_XENOMAI_CPU_IXP4XX
+		bool "Intel IXP4XX (XScale)"
+
+	config BR2_PACKAGE_XENOMAI_CPU_IMX
+		bool "Freescale i.MX (MX1/MXL)"
+
+	config BR2_PACKAGE_XENOMAI_CPU_IMX21
+		bool "Freescale i.MX21"
+
+	config BR2_PACKAGE_XENOMAI_CPU_MX2
+		bool "Freescale MXC/MX2"
+
+	config BR2_PACKAGE_XENOMAI_CPU_MX3
+		bool "Freescale MXC/MX3"
+
+	config BR2_PACKAGE_XENOMAI_CPU_SA1100
+		bool "StrongARM SA1100"
+
+	config BR2_PACKAGE_XENOMAI_CPU_S3C2410
+		bool "S3C2410"
+
+	config BR2_PACKAGE_XENOMAI_CPU_GENERIC_ARM
+		bool "Generic ARM"
+
+endchoice
+
+# Now set CPU type. We force manually selected type even if detected in case
+# user takes the risk.
+config BR2_PACKAGE_XENOMAI_CPU_TYPE
+	string
+	depends on BR2_PACKAGE_XENOMAI && BR2_arm
+	default "at91rm9200"  if BR2_PACKAGE_XENOMAI_CPU_AT91RM9200
+	default "at91sam926x" if BR2_PACKAGE_XENOMAI_CPU_AT91SAM926X
+	default "integrator"  if BR2_PACKAGE_XENOMAI_CPU_INTEGRATOR
+	default "ixp4xx"      if BR2_PACKAGE_XENOMAI_CPU_IXP4XX
+	default "generic"     if BR2_PACKAGE_XENOMAI_CPU_GENERIC_ARM
+	default "imx"         if BR2_PACKAGE_XENOMAI_CPU_IMX
+	default "imx21"       if BR2_PACKAGE_XENOMAI_CPU_IMX21
+	default "mx2"         if BR2_PACKAGE_XENOMAI_CPU_MX2
+	default "mx3"         if BR2_PACKAGE_XENOMAI_CPU_MX3
+	default "s3c2410"     if BR2_PACKAGE_XENOMAI_CPU_S3C2410

package/xenomai/README new file +48 -0

new file mode 100644
@@ -0,0 +1,48 @@
+****************
+* Xenomai      *
+****************
+
+Xenomai comes with 2 parts : Kernel Part and User-space part.
+Kernel part patch Linux with ADEOS(i-pipe)
+(http://home.gna.org/adeos/) and some Xenomai kernel space stuff.
+
+From Adeos main site :
+"The purpose of Adeos is to provide a flexible environment for sharing
+hardware resources among multiple operating systems, or among multiple
+instances of a single OS."
+
+From Xenomai main site :
+"Xenomai is a real-time development framework cooperating with the
+Linux kernel, in order to provide a pervasive, interface-agnostic,
+hard real-time support to user-space applications, seamlessly
+integrated into the GNU/Linux environment."
+
+****************
+* Installation *
+****************
+
+* Buildroot Kernel: *
+  - Check that your version of Linux Kernel is supported by the
+    version of xenomai you choose.
+  - Download Adeos patch at
+    http://download.gna.org/adeos/patches/v2.6/$(ARCH)/, or if your
+    are sure, let the Xenomai 'prepare-kernel.sh' script do the work.
+  - Check the Xenomai Kernel option in Buildroot :
+     -> Kernel
+       -> Linux Kernel (BR2_LINUX_KERNEL [=y])
+         -> Linux Kernel Extensions
+            -> [*] Adeos/Xenomai Real-time patch
+     ..And add the path to Adeos patch. (or leave it empty if you let
+     xenomai script do the work)
+
+* Non-Buildroot Kernel AND Buildroot Kernel *
+  - Make sure your Kernel is patched with Xenomai
+  - Check the option in Buildroot menu :
+    -> Package Selection for the target
+       -> Real-time
+          -> [*] Xenomai Userspace
+  - You can download a custom version of Xenomai that fit with your
+  Kernel.
+  - If you use static /dev and the default device_table, Uncomment
+  Xenomai part in 'target/generic/device_table_dev.txt'. (rtheap,
+  rtscope and rtp[0-31])

package/xenomai/xenomai-do-not-install-devices.patch new file +1 -0

new file mode 100644
@@ -0,0 +1,11 @@
+--- a/Makefile.in	2011-06-24 16:11:23.591449817 +0200

package/xenomai/xenomai.mk new file +46 -0

new file mode 100644
@@ -0,0 +1,88 @@
+#############################################################
+# Xenomai
+# URL  : http://xenomai.org
+# NOTE : Real-Time Framework for Linux
+#
+#############################################################
+
+XENOMAI_VERSION = $(call qstrip,$(BR2_PACKAGE_XENOMAI_VERSION))
+ifeq ($(XENOMAI_VERSION),)
+XENOMAI_VERSION = 2.5.6
+endif
+
+XENOMAI_SITE = http://download.gna.org/xenomai/stable/
+XENOMAI_SOURCE = xenomai-$(XENOMAI_VERSION).tar.bz2
+
+XENOMAI_INSTALL_STAGING = YES
+
+ifeq ($(BR2_arm),y)
+XENOMAI_CPU_TYPE = $(call qstrip,$(BR2_PACKAGE_XENOMAI_CPU_TYPE))
+# Set "generic" if not defined
+ifeq ($(XENOMAI_CPU_TYPE),)
+XENOMAI_CPU_TYPE = generic
+endif
+XENOMAI_EXTRA_CONFIGURE_OPTS += "--enable-$(BR2_ARCH)-mach=$(XENOMAI_CPU_TYPE)"
+endif #BR2_arm
+
+define XENOMAI_CONFIGURE_CMDS
+	(cd $(@D); rm -rf config.cache; \
+		$(TARGET_CONFIGURE_OPTS) \
+		$(TARGET_CONFIGURE_ARGS) \
+		CCFLAGS_FOR_BUILD="$(HOST_CFLAGS)" \
+		./configure \
+		$(XENOMAI_EXTRA_CONFIGURE_OPTS) \
+		--host=$(BR2_ARCH)-linux \
+		$(if $(shell grep "^CONFIG_SMP*=*y" \
+			$(LINUX_DIR)/.config ),--enable-smp,) \
+	)
+endef
+
+define XENOMAI_INSTALL_STAGING_CMDS
+	$(MAKE) DESTDIR=$(STAGING_DIR) -C $(@D) install
+endef
+
+define XENOMAI_INSTALL_TARGET_CMDS
+	$(MAKE) DESTDIR=$(TARGET_DIR) -C $(@D) install
+	rm -rf $(TARGET_DIR)/usr/xenomai/share/doc

package/xenomai/xenomai.mk new file +9 -0

+
+define XENOMAI_CLEAN_CMDS
+	-$(MAKE) DESTDIR=$(TARGET_DIR) -C $(@D) clean
+endef
+
+define XENOMAI_UNINSTALL_TARGET_CMDS
+	if test -d $(TARGET_DIR)/etc/udev/rules.d ; then \
+		for f in $(@D)/ksrc/nucleus/udev/*.rules ; do \
+			rm -f $(TARGET_DIR)/etc/udev/rules.d/$$f ; \

I used a patch which solves the underlying issue (at some point, sudo is
called instead of $SUDO) and I use XENOMAI_INSTALL_STAGING_OPT = DESTDIR=$(STAGING_DIR) install-user XENOMAI_INSTALL_TARGET_OPT = DESTDIR=$(TARGET_DIR) install-user

These two patches are an initial add for Xenomai in buildroot.

"Xenomai is a real-time development framework cooperating with the Linux kernel, in order to provide a pervasive, interface-agnostic, hard real-time support to user-space applications, seamlessly integrated into the GNU/Linux environment."
[http://www.xenomai.org]

Xenomai comes with a Linux Kernel and user-space part.
I added a Linux extensions sub-menu (The first patch) which handles the kernel modification provided by Adeos/Xenomai. The advantage of this way is for maintenance purpose. (Xenomai do not provide a full kernel patch, but use a script called "prepare-kernel.sh") Also, this split the user-space from the kernel in a nice way instead of adding a serie of patches.

Quoted 7 lines

Xenomai comes with a Linux Kernel and user-space part.
I added a Linux extensions sub-menu (The first patch) which handles the kernel modification provided by Adeos/Xenomai. The advantage of this way is for maintenance purpose. (Xenomai do not provide a full kernel patch, but use a script called "prepare-kernel.sh") Also, this split the user-space from the kernel in a nice way instead of adding a serie of patches.

I don't agree with this split. When you're configuring Xenomai, I
think you want the Adeos patch and the other Xenomai configuration in a single place, not spread over two separate menu items. And the same reasoning goes for maintaining the buildroot parts of Xenomai.

Quoted 9 lines

Quoted 7 lines

Xenomai comes with a Linux Kernel and user-space part.
I added a Linux extensions sub-menu (The first patch) which handles the kernel modification provided by Adeos/Xenomai. The advantage of this way is for maintenance purpose. (Xenomai do not provide a full kernel patch, but use a script called "prepare-kernel.sh") Also, this split the user-space from the kernel in a nice way instead of adding a serie of patches.

Quoted 5 lines

I don't agree with this split. When you're configuring Xenomai, I

think you want the Adeos patch and the other Xenomai configuration in a single place, not spread over two separate menu items. And the same reasoning goes for maintaining the buildroot parts of Xenomai.

Yes, but the Buildroot infrastructure makes it a lot easier to integrate the Xenomai userspace libraries separately from the kernel-side patching integration. Moreover, as detailed in the documentation, there are people who do not use Buildroot to build their kernel, but only to build their root filesystem.

Or maybe I missed your point ?